/PROG  TL1_DROP
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "TOOL1 DROP";
PROG_SIZE	= 1131;
CREATE		= DATE 12-04-21  TIME 11:47:28;
MODIFIED	= DATE 25-05-05  TIME 21:25:02;
FILE_NAME	= ;
VERSION		= 0;
LINE_COUNT	= 23;
MEMORY_SIZE	= 1543;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/MN
   1:   ;
   2:  LBL[10] ;
   3:  UFRAME_NUM=0 ;
   4:  UTOOL_NUM=1 ;
   5:  WAIT DI[25:TOOL #1]=OFF    ;
   6:J P[1:CLEAR] 100% CNT50    ;
   7:  OVERRIDE=50% ;
   8:L P[2:APPROACH] 600mm/sec CNT30 ACC70    ;
   9:L P[3:APPROACH] 300mm/sec CNT50    ;
  10:L P[4:APPROACH] 100mm/sec FINE    ;
  11:L P[5:DROP] 100mm/sec FINE ACC50 DB    0.0mm,DO[20:TOOL1 POS]=ON    ;
  12:  DO[20:TOOL1 POS]=ON ;
  13:  DO[13:REQ ATC CHUCK]=OFF ;
  14:  DO[14:REQ ATC UNCHUCK]=ON ;
  15:  WAIT DI[14:ATC UNCHUCK OK]=ON    ;
  16:  WAIT   1.00(sec) ;
  17:  DO[14:REQ ATC UNCHUCK]=OFF ;
  18:L P[6:APPROACH] 100mm/sec FINE ACC50 DB    0.0mm,DO[20:TOOL1 POS]=OFF    ;
  19:L P[7:APPROACH] 300mm/sec CNT50    ;
  20:  WAIT DI[25:TOOL #1]=ON    ;
  21:L P[2:APPROACH] 300mm/sec CNT50    ;
  22:L P[1:CLEAR] 600mm/sec CNT50 ACC70    ;
  23:  MOVE TO HOME    ;
/POS
P[1:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3066.618  mm,	Y =   759.346  mm,	Z =  -550.000  mm,
	W =  -179.996 deg,	P =     -.000 deg,	R =    90.001 deg,
	E1=    15.885 deg
};
P[2:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3232.843  mm,	Y =   694.216  mm,	Z = -1021.701  mm,
	W =  -179.999 deg,	P =    89.668 deg,	R =    90.000 deg,
	E1=    15.885 deg
};
P[3:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3221.000  mm,	Y =   650.275  mm,	Z = -1332.413  mm,
	W =   160.957 deg,	P =    89.176 deg,	R =    71.400 deg,
	E1=    14.171 deg
};
P[4:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3217.629  mm,	Y =   490.987  mm,	Z = -1341.919  mm,
	W =   169.205 deg,	P =    88.951 deg,	R =    79.432 deg,
	E1=    14.835 deg
};
P[5:"DROP"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3217.629  mm,	Y =   488.267  mm,	Z = -1446.080  mm,
	W =   169.205 deg,	P =    88.950 deg,	R =    79.432 deg,
	E1=    14.835 deg
};
P[6:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3217.629  mm,	Y =   649.548  mm,	Z = -1446.080  mm,
	W =   169.206 deg,	P =    88.950 deg,	R =    79.434 deg,
	E1=    14.835 deg
};
P[7:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3230.582  mm,	Y =   700.698  mm,	Z = -1256.697  mm,
	W =  -179.669 deg,	P =    89.667 deg,	R =    90.331 deg,
	E1=    15.885 deg
};
/END
